Taking it to the Sky

The system will print the home position once it finished intializing (telem> home: 55.7533950, 37.6254270, -0.00). You can bring it into the air by typing:

pxh> commander takeoff

Joystick or thumb-joystick support is available through QGroundControl (QGC). To use manual input, put the system in a manual flight mode (e.g. POSCTL, position control). Enable the thumb joystick from the QGC preferences menu.

Simulating a Wifi Drone

There is a special target to simulate a drone connected via Wifi on the local network:

make broadcast jmavsim

The simulator broadcasts his address on the local network as a real drone would do.

Extending and Customizing

To extend or customize the simulation interface, edit the files in the Tools/jMAVSim folder. The code can be accessed through thejMAVSim repository on Github.

The build system enforces the correct submodule to be checked out for all dependencies, including the simulator. It will not overwrite changes in files in the directory, however, when these changes are comitted the submodule needs to be registered in the Firmware repo with the new commit hash. To do so, `git add Tools/jMAVSim` and commit the change. This will update the GIT hash of the simulator.